% Dynamic_Params
global m g l
global Jx Jy Jz I
global a1 a2 a3 
global b1 b2 b3

m = 0.65; 
g = 9.81; 
l = 0.23;
Jx = 7.5e-3; 
Jy = 7.5e-3;
Jz = 1.3e-2;
I = 6e-5;

% m = 0.75; 
% g = 9.81; 
% l = 0.25;
% Jx = 19.688e-3; 
% Jy = 19.681e-3;
% Jz = 3.938e-2;
% I = 6e-5;

a1 = (Jy-Jz)/Jx;
a2 = (Jz-Jx)/Jy; 
a3 = (Jx-Jy)/Jz;
b1 = l/Jx;
b2 = l/Jy;
b3 = 1/Jz;

% Gain_params
global c1 c2 c3 c4 c5 c6
global c7 c8 c9 c10 c11 c12

c = 1;
c1 = 2; c2 = 2; c3 = 2; c4 = 2; c5 = c; c6 = c;
c7 = c; c8 = c; c9 = c; c10 = c; c11 = c;c12 = c;

% Simulation_params

dt = 0.01;
Tf = 80;
x0 = zeros(12,1);
